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ArduCopter Alt Hold - Change to not run get_nav_throttle if manually adjusting altitude with manual_boost - removes possibility of I term running up 

Tuning - added ability to modify altitude (position, not rate) controller
TradHeli - Fairly large change to how throttle is scaled and collective moves.
This commit is contained in:
Randy Mackay 2011-11-20 22:30:42 +09:00
parent 7091f9689c
commit 7ac04af03d
3 changed files with 104 additions and 63 deletions
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47
ArduCopter/ArduCopter.pde
View File

@ -1057,7 +1057,7 @@ void update_throttle_mode(void)
case THROTTLE_MANUAL:
if (g.rc_3.control_in > 0){
#if FRAME_CONFIG == HELI_FRAME
g.rc_3.servo_out = heli_get_angle_boost(heli_get_scaled_throttle(g.rc_3.control_in));
g.rc_3.servo_out = heli_get_angle_boost(g.rc_3.control_in);
#else
angle_boost = get_angle_boost(g.rc_3.control_in);
g.rc_3.servo_out = g.rc_3.control_in + angle_boost;
@ -1077,34 +1077,40 @@ void update_throttle_mode(void)
// fall through
case THROTTLE_AUTO:
// 10hz, don't run up i term
if(invalid_throttle && motor_auto_armed == true){
// how far off are we
altitude_error = get_altitude_error();
// get the AP throttle
nav_throttle = get_nav_throttle(altitude_error);//, 250); //150 = target speed of 1.5m/s
//Serial.printf("in:%d, cr:%d, NT:%d, I:%1.4f\n", g.rc_3.control_in,altitude_error, nav_throttle, g.pi_throttle.get_integrator());
// clear the new data flag
invalid_throttle = false;
}
// calculate angle boost
angle_boost = get_angle_boost(g.throttle_cruise);
// manual command up or down?
if(manual_boost != 0){
//remove alt_hold_velocity when implemented
#if FRAME_CONFIG == HELI_FRAME
g.rc_3.servo_out = heli_get_angle_boost(heli_get_scaled_throttle(g.throttle_cruise + nav_throttle + manual_boost + get_z_damping()));
g.rc_3.servo_out = heli_get_angle_boost(g.throttle_cruise + manual_boost + get_z_damping());
#else
g.rc_3.servo_out = g.throttle_cruise + angle_boost + manual_boost + get_z_damping();
#endif
// reset next_WP.alt
next_WP.alt = max(current_loc.alt, 100);
}else{
// 10hz, don't run up i term
if(invalid_throttle && motor_auto_armed == true){
// how far off are we
altitude_error = get_altitude_error();
// get the AP throttle
nav_throttle = get_nav_throttle(altitude_error);//, 250); //150 = target speed of 1.5m/s
//Serial.printf("in:%d, cr:%d, NT:%d, I:%1.4f\n", g.rc_3.control_in,altitude_error, nav_throttle, g.pi_throttle.get_integrator());
// clear the new data flag
invalid_throttle = false;
}
#if FRAME_CONFIG == HELI_FRAME
//g.rc_3.servo_out = heli_get_angle_boost(g.throttle_cruise + nav_throttle + get_z_damping());
g.rc_3.servo_out = heli_get_angle_boost(heli_get_scaled_throttle(g.throttle_cruise + nav_throttle + get_z_damping()));
g.rc_3.servo_out = heli_get_angle_boost(g.throttle_cruise + nav_throttle + get_z_damping());
#else
g.rc_3.servo_out = g.throttle_cruise + nav_throttle + angle_boost + get_z_damping();
#endif
@ -1399,7 +1405,7 @@ static void tuning(){
break;
case CH6_THROTTLE_KP:
g.rc_6.set_range(0,1000);
g.rc_6.set_range(0,1000); // 0 to 1
g.pi_throttle.kP(tuning_value);
break;
@ -1437,6 +1443,11 @@ static void tuning(){
g.heli_ext_gyro_gain = tuning_value * 1000;
break;
#endif
case CH6_THR_HOLD_KP:
g.rc_6.set_range(0,1000); // 0 to 1
g.pi_alt_hold.kP(tuning_value);
break;
}
}

5
ArduCopter/defines.h
View File

@ -140,7 +140,7 @@
#define CH6_RATE_KP 4
#define CH6_RATE_KI 5
#define CH6_YAW_RATE_KP 6
// Altitude
// Altitude rate controller
#define CH6_THROTTLE_KP 7
// Extras
#define CH6_TOP_BOTTOM_RATIO 8
@ -151,6 +151,9 @@
#define CH6_LOITER_P 12
#define CH6_HELI_EXTERNAL_GYRO 13
// altitude controller
#define CH6_THR_HOLD_KP 14
// nav byte mask
// -------------
#define NAV_LOCATION 1

115
ArduCopter/heli.pde
View File

@ -5,8 +5,8 @@
#define HELI_SERVO_AVERAGING_DIGITAL 0 // 250Hz
#define HELI_SERVO_AVERAGING_ANALOG 2 // 125Hz
static float heli_throttle_scaler = 0;
static bool heli_swash_initialised = false;
static int heli_throttle_mid = 0; // throttle mid point in pwm form (i.e. 0 ~ 1000)
// heli_servo_averaging:
// 0 or 1 = no averaging, 250hz
@ -19,8 +19,6 @@ static bool heli_swash_initialised = false;
static void heli_init_swash()
{
int i;
int tilt_max[CH_3+1];
int total_tilt_max = 0;
// swash servo initialisation
g.heli_servo_1.set_range(0,1000);
@ -38,23 +36,38 @@ static void heli_init_swash()
heli_rollFactor[CH_2] = cos(radians(g.heli_servo2_pos + 90 - g.heli_phase_angle));
heli_rollFactor[CH_3] = cos(radians(g.heli_servo3_pos + 90 - g.heli_phase_angle));
// collective min / max
total_tilt_max = 0;
for( i=CH_1; i<=CH_3; i++ ) {
tilt_max[i] = max(abs(heli_rollFactor[i]*g.heli_roll_max), abs(heli_pitchFactor[i]*g.heli_pitch_max))/100;
total_tilt_max = max(total_tilt_max,tilt_max[i]);
// ensure g.heli_coll values are reasonable
if( g.heli_coll_min >= g.heli_coll_max ) {
g.heli_coll_min = 1000;
g.heli_coll_max = 2000;
}
// servo min/max values - or should I use set_range?
g.heli_servo_1.radio_min = g.heli_coll_min - tilt_max[CH_1];
g.heli_servo_1.radio_max = g.heli_coll_max + tilt_max[CH_1];
g.heli_servo_2.radio_min = g.heli_coll_min - tilt_max[CH_2];
g.heli_servo_2.radio_max = g.heli_coll_max + tilt_max[CH_2];
g.heli_servo_3.radio_min = g.heli_coll_min - tilt_max[CH_3];
g.heli_servo_3.radio_max = g.heli_coll_max + tilt_max[CH_3];
// scaler for changing channel 3 radio input into collective range
heli_throttle_scaler = ((float)(g.heli_coll_max - g.heli_coll_min))/1000;
g.heli_coll_mid = constrain(g.heli_coll_mid, g.heli_coll_min, g.heli_coll_max);
// servo min/max values
if( g.heli_servo_1.get_reverse() ) {
g.heli_servo_1.radio_min = 3000 - g.heli_coll_max + (g.heli_servo_1.radio_trim-1500);
g.heli_servo_1.radio_max = 3000 - g.heli_coll_min + (g.heli_servo_1.radio_trim-1500);
}else{
g.heli_servo_1.radio_min = g.heli_coll_min + (g.heli_servo_1.radio_trim-1500);
g.heli_servo_1.radio_max = g.heli_coll_max + (g.heli_servo_1.radio_trim-1500);
}
if( g.heli_servo_2.get_reverse() ) {
g.heli_servo_2.radio_min = 3000 - g.heli_coll_max + (g.heli_servo_2.radio_trim-1500);
g.heli_servo_2.radio_max = 3000 - g.heli_coll_min + (g.heli_servo_2.radio_trim-1500);
}else{
g.heli_servo_2.radio_min = g.heli_coll_min + (g.heli_servo_2.radio_trim-1500);
g.heli_servo_2.radio_max = g.heli_coll_max + (g.heli_servo_2.radio_trim-1500);
}
if( g.heli_servo_3.get_reverse() ) {
g.heli_servo_3.radio_min = 3000 - g.heli_coll_max + (g.heli_servo_3.radio_trim-1500);
g.heli_servo_3.radio_max = 3000 - g.heli_coll_min + (g.heli_servo_3.radio_trim-1500);
}else{
g.heli_servo_3.radio_min = g.heli_coll_min + (g.heli_servo_3.radio_trim-1500);
g.heli_servo_3.radio_max = g.heli_coll_max + (g.heli_servo_3.radio_trim-1500);
}
// calculate throttle mid point
heli_throttle_mid = (g.heli_coll_mid-g.heli_coll_min)*(1000.0/(g.heli_coll_max-g.heli_coll_min));
// reset the servo averaging
for( i=0; i<=3; i++ )
@ -72,7 +85,7 @@ static void heli_init_swash()
static void heli_move_servos_to_mid()
{
heli_move_swash(0,0,1500,0);
heli_move_swash(0,0,500,0);
}
//
@ -80,7 +93,7 @@ static void heli_move_servos_to_mid()
// - expected ranges:
// roll : -4500 ~ 4500
// pitch: -4500 ~ 4500
// collective: 1000 ~ 2000
// collective: 0 ~ 1000
// yaw: -4500 ~ 4500
//
static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_out)
@ -92,6 +105,29 @@ static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_o
// we must be in set-up mode so mark swash as uninitialised
heli_swash_initialised = false;
// free up servo ranges
if( g.heli_servo_1.get_reverse() ) {
g.heli_servo_1.radio_min = 3000 - g.rc_3.radio_max + (g.heli_servo_1.radio_trim-1500);
g.heli_servo_1.radio_max = 3000 - g.rc_3.radio_min + (g.heli_servo_1.radio_trim-1500);
}else{
g.heli_servo_1.radio_min = g.rc_3.radio_min + (g.heli_servo_1.radio_trim-1500);
g.heli_servo_1.radio_max = g.rc_3.radio_max + (g.heli_servo_1.radio_trim-1500);
}
if( g.heli_servo_2.get_reverse() ) {
g.heli_servo_2.radio_min = 3000 - g.rc_3.radio_max + (g.heli_servo_2.radio_trim-1500);
g.heli_servo_2.radio_max = 3000 - g.rc_3.radio_min + (g.heli_servo_2.radio_trim-1500);
}else{
g.heli_servo_2.radio_min = g.rc_3.radio_min + (g.heli_servo_2.radio_trim-1500);
g.heli_servo_2.radio_max = g.rc_3.radio_max + (g.heli_servo_2.radio_trim-1500);
}
if( g.heli_servo_3.get_reverse() ) {
g.heli_servo_3.radio_min = 3000 - g.rc_3.radio_max + (g.heli_servo_3.radio_trim-1500);
g.heli_servo_3.radio_max = 3000 - g.rc_3.radio_min + (g.heli_servo_3.radio_trim-1500);
}else{
g.heli_servo_3.radio_min = g.rc_3.radio_min + (g.heli_servo_3.radio_trim-1500);
g.heli_servo_3.radio_max = g.rc_3.radio_max + (g.heli_servo_3.radio_trim-1500);
}
}else{ // regular flight mode
// check if we need to reinitialise the swash
@ -102,7 +138,7 @@ static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_o
// ensure values are acceptable:
roll_out = constrain(roll_out, (int)-g.heli_roll_max, (int)g.heli_roll_max);
pitch_out = constrain(pitch_out, (int)-g.heli_pitch_max, (int)g.heli_pitch_max);
coll_out = constrain(coll_out, (int)g.heli_coll_min, (int)g.heli_coll_max);
coll_out = constrain(coll_out, 0, 1000);
// rudder feed forward based on collective
#if HIL_MODE == HIL_MODE_DISABLED // don't do rudder feed forward in simulator
@ -113,9 +149,9 @@ static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_o
}
// swashplate servos
g.heli_servo_1.servo_out = (heli_rollFactor[CH_1] * roll_out + heli_pitchFactor[CH_1] * pitch_out)/10 + coll_out - 1000 + (g.heli_servo_1.radio_trim-1500);
g.heli_servo_2.servo_out = (heli_rollFactor[CH_2] * roll_out + heli_pitchFactor[CH_2] * pitch_out)/10 + coll_out - 1000 + (g.heli_servo_2.radio_trim-1500);
g.heli_servo_3.servo_out = (heli_rollFactor[CH_3] * roll_out + heli_pitchFactor[CH_3] * pitch_out)/10 + coll_out - 1000 + (g.heli_servo_3.radio_trim-1500);
g.heli_servo_1.servo_out = (heli_rollFactor[CH_1] * roll_out + heli_pitchFactor[CH_1] * pitch_out)/10 + coll_out + (g.heli_servo_1.radio_trim-1500);
g.heli_servo_2.servo_out = (heli_rollFactor[CH_2] * roll_out + heli_pitchFactor[CH_2] * pitch_out)/10 + coll_out + (g.heli_servo_2.radio_trim-1500);
g.heli_servo_3.servo_out = (heli_rollFactor[CH_3] * roll_out + heli_pitchFactor[CH_3] * pitch_out)/10 + coll_out + (g.heli_servo_3.radio_trim-1500);
g.heli_servo_4.servo_out = yaw_out + yaw_offset;
// use servo_out to calculate pwm_out and radio_out
@ -130,7 +166,7 @@ static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_o
heli_servo_out[2] += g.heli_servo_3.radio_out;
heli_servo_out[3] += g.heli_servo_4.radio_out;
heli_servo_out_count++;
// is it time to move the servos?
if( heli_servo_out_count >= g.heli_servo_averaging ) {
@ -171,8 +207,8 @@ static void heli_move_swash(int roll_out, int pitch_out, int coll_out, int yaw_o
static void init_motors_out()
{
#if INSTANT_PWM == 0
ICR5 = 5000; // 400 hz output CH 1, 2, 9
ICR1 = 5000; // 400 hz output CH 3, 4, 10
ICR5 = 8000; // 250 hz output CH 1, 2, 9
ICR1 = 8000; // 250 hz output CH 3, 4, 10
ICR3 = 40000; // 50 hz output CH 7, 8, 11
#endif
}
@ -194,7 +230,7 @@ static void output_motors_armed()
g.rc_3.calc_pwm();
g.rc_4.calc_pwm();
heli_move_swash( g.rc_1.servo_out, g.rc_2.servo_out, g.rc_3.radio_out, g.rc_4.servo_out );
heli_move_swash( g.rc_1.servo_out, g.rc_2.servo_out, g.rc_3.servo_out, g.rc_4.servo_out );
}
// for helis - armed or disarmed we allow servos to move
@ -212,25 +248,16 @@ static void output_motor_test()
{
}
// heli_get_scaled_throttle - user's throttle scaled to collective range
// input is expected to be in the range of 0~1000 (ie. pwm)
// also does equivalent of angle_boost
static int heli_get_scaled_throttle(int throttle)
{
float scaled_throttle = (g.heli_coll_min - 1000) + throttle * heli_throttle_scaler;
return scaled_throttle;
}
// heli_angle_boost - takes servo_out position
// adds a boost depending on roll/pitch values
// heli_angle_boost - adds a boost depending on roll/pitch values
// equivalent of quad's angle_boost function
// pwm_out value should be 0 ~ 1000
static int heli_get_angle_boost(int pwm_out)
// throttle value should be 0 ~ 1000
static int heli_get_angle_boost(int throttle)
{
float angle_boost_factor = cos_pitch_x * cos_roll_x;
angle_boost_factor = 1.0 - constrain(angle_boost_factor, .5, 1.0);
int throttle_above_center = max(1000 + pwm_out - g.heli_coll_mid,0);
return pwm_out + throttle_above_center*angle_boost_factor;
int throttle_above_mid = max(throttle - heli_throttle_mid,0);
return throttle + throttle_above_mid*angle_boost_factor;
}
#endif // HELI_FRAME